Before we make an attempt to control the TurtleBot from a remote computer, it is wise to test the TurtleBot in standalone mode. TurtleBot will be powered on and we will use its netbook to check whether the robot is operational on its own.
To prepare the TurtleBot, perform the following steps:
ROS_MASTER_URI
IP address.Ensure that ROS environment variables are configured correctly on the netbook. Refer to the Netbook network setup section in Chapter 3, Driving Around with TurtleBot, and the Configuring TurtleBot and installing 3D sensor software section.
To test the operation of the TurtleBot 3D sensor in standalone mode, perform the following steps on the netbook:
$ roslaunch turtlebot_bringup minimal.launch
$ roslaunch freenect_launch freenect.launch
If you are using an ASUS or Carmine sensor, start the camera nodelets using the following command:
$ roslaunch openni2_launch openni2.launch
If these commands run on TurtleBot with no errors, you are ready to proceed with running 3D visualizations from the remote computer. If you receive errors, such as No devices connected…, make sure that the correct camera drivers are installed, as described in the Configuring TurtleBot and installing 3D sensor software section. Also, make sure that the TurtleBot base is powered on.